The ABB IRB 6400 is one of the most installed robots in the world the 6400R is the latest revison of this arm which have been used by most of the major automotive manufacturers for nearly 15 years. They have an excellent reputation for reliability and capability and as such are the industry standard. It is modular in construction and as standard the 6400 has 120kg capacity and 2.5m reach but there are several types available with capacities up to 200kg and reach up to 3.0m.
The M2000 S4C+controller, although cosmetically similar to the S4C it replaced is quite different internally. Where the S4C used ABB's own computer system (that is in turn very like the S4) the S4C+ has a PC style computer which allows greater connectivity and has much greater power than its predecessors. Similarities to the S4C include the servo drive system, the programming language and teach pendant. Incidentally the reason for the convoluted name was because Siemens had already trademarked the S5 name for their PLC systems! Normally supplied with one I/O card giving 16 inputs and 16 outputs it can be fitted with many more if needed. Analogue I/O is also available. The controller can also work as a PLC by controlling and monitoring I/O signals. Up to 3 background programs (for monitoring signals for example) can be run in parallel with the actual robot program and even when the robot program has stopped. Outputs can be set at a specific time or distance before a programmed position and can be executed concurrent to the robot motion. The controller also has built in dual chain (0V and +24V) safety circuits meaning that the robot can be run without the need for extra emergency stop relays etc. Because of the controllers excellent connectivity it can easily be used with programs supplied by CAD-CAM software system that converts CAD models into robot paths.
It should be noted that the arm is also very rugged and is less vulnerable to damage than many of its competitors. The robot is entirely powered by ac servo motors, the "rams" on the side of the arms are not hydraulic or pneumatic, they are simply enclosed mechanical springs. The springs and weight on the back of the robot make it very well balanced meaning the forces required to move the robot are remarkably small. Life expectancy or MTBF (mean time between failure) is largely dependant on service practises (once a year is normal) but we expect 6400's to last for at least 100,000 hours. Having said this we have seen very good examples with much more than this.
These are the main types of S4C+ controlled IRB 6400R model, prices can depend on the availability of a certain model, for example the 3.0m reach is comparatively rare:
Payload Reach Notes
150kg 2.5m The standard IRB 6400R model
Fitted with different axis 3 motor and modified parameters - some axis slightly faster
200kg 2.5m Fitted with uprates axis 2 motor and heavier 309kg balance weight - some axis slightly slower
150kg 2.8m Fitted with 345mm upper arm extension and heavier 309kg balance weight - some axis slightly slower
200kg 2.8m Fitted with uprated axis 2 motor and 458kg balance weight - some axis slightly slower
100kg 3.0m Fitted with different axis 3 motor 550mm arm extension and 309kg balance weight
The IRB 6400R arm and controller are both protected to IP54 with the wrist getting additional protection to IP55 this means that the robot is well suited to industrial environments. It should also be noted that there are also foundry or 6400RF versions of all of the above types. The Foundry versions have a special non stick paint finish and increased IP ratings - IP55 for the arm and IP67 for the wrist.
The IRB 6400R is employed by the hundred around the world in a multitude of applications including spot welding, MIG welding, palletising, handling, pick and place, machine tending, milling, woodworking, cutting, de-burring, plastics, even NON EX painting and spraying applications. Our IRB 6400s are supplied complete with the arm, control cabinet (including I/O), cables and teach pendant. We clean, test and repaint them before shipping and if you need manuals we can provide them. Most of the ones we supply will have around 30,000 hours but this can vary - we are more focused on the robot's background and overall condition.